An automatic code system with moisture content measurement function for blocks

Abstract

The present invention discloses an automatic coding system with a function of measuring the moisture content of a koji block. The present invention includes a conveying device, a belt scale is connected to the rear side of the conveying device, the belt scale is used to obtain the mass M of the koji block, and send the weight M of the koji block to a control unit, a flip mechanism is provided at the end of the belt scale, the flip mechanism is used to flip the koji block from a flat state to an upright state, a display table is provided on one side of the flip mechanism, a coding device and a transport vehicle are provided on one side of the display table, a 2D visual camera and a laser positioning light are provided on the coding device, the 2D visual camera is also used to collect image data of the koji block after flipping, the control unit calculates the moisture content of the koji block based on the image data of the koji block, and if the moisture content of the koji block is within the set humidity threshold range, the coding device is controlled to put the koji block on the display table into the transport vehicle. The present invention uses machine vision and robotics technology to realize automated and unmanned coding operation, and realizes the intelligent manufacturing upgrade of the liquor industry.

Description

Technical Field

[0001] The invention relates to the technical field of automatic coding system with a function of measuring moisture content of a song block, and in particular to an automatic coding system with a function of measuring moisture content of a song block. Background Art

[0002] Qu is the backbone of liquor, and Daqu is an important raw material for liquor brewing. The production process is generally to grind wheat or barley through a grinder, add mother qu powder and water to mix well, and finally press it into shape with a qu press. The shape of the qu block is usually a cuboid or one side of the cuboid is bulging. Traditional qu making is that after the qu block is pressed and formed, it is manually stacked on an electric trolley, and then transported to the culture room for fermentation. Each qu block weighs 3-5kg, and the beat is 3 seconds per block. Manual qu stacking is a heavy physical labor, and the noise is very loud at the qu pressing site due to the continuous operation of the grinder and qu press, which is not conducive to manual qu stacking operations. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic coding system with a moisture content measurement function for a block of a song in view of the deficiencies in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides an automatic code system with a moisture content measurement function of a block of dough, comprising a conveying device for transporting the block of dough, a belt scale connected to the rear side of the conveying device, the belt scale used to obtain the mass M of the block of dough, and send the weight M of the block of dough to a control unit, a flipping mechanism is provided at the end of the belt scale, the flipping mechanism is used to flip the block of dough from a flat state to an upright state, a placing table is provided on one side of the flipping mechanism, a code device and a transport vehicle are provided on one side of the placing table, a 2D visual camera and a laser positioning light are provided on the code device, and the control unit uses the image collected by the 2D visual camera and the laser positioning reference line emitted by the laser positioning light to construct the image coordinates and the physical world relationship, and realizes posture judgment and positioning of the transport vehicle through angle detection and distance detection. The 2D visual camera is also used to collect image data of the flipped curved block. The control unit obtains the thickness H of the curved block based on the image data of the curved block, and calculates the volume V=S*H of the curved block in combination with the cross-sectional area S of the buckling mold. The control unit calculates the density ρ=M / V of the curved block based on the mass M and volume V of the curved block, and calculates the moisture content of the curved block through the density ρ of the curved block. The control unit determines whether the moisture content of the current curved block is within the set humidity threshold range. If it is within the set humidity threshold range, the code bending device is controlled to place the curved block on the display table into the transport vehicle. Otherwise, the code bending device is controlled to place the curved block into the rejection area.

[0005] Furthermore, the real-time water content Mc=K is calculated based on the multi-point calibration method. i *ρ, where K iis the piecewise linearization coefficient, i=1,2…n, n is a natural number greater than 2.

[0006] Furthermore, the coding device grabs three blocks of dough each time, and when placing the blocks of dough into the transport vehicle, the control unit adjusts the coordinates of the stacking center based on the total thickness of the three blocks of dough and the total thickness of the three blocks of dough currently and last stacked.

[0007] Furthermore, before grabbing the song block and after stacking the song block, the control unit controls the 2D visual camera to collect image data of the song block, and identifies the posture of the song block in the image based on the posture detection algorithm to determine whether the posture of the song block is normal. If not, the song encoding operation is stopped and an alarm signal is issued.

[0008] Furthermore, the encoding device includes a 6-axis robot and a clamping mechanism arranged on the 6-axis robot.

[0009] Furthermore, the conveying device is a belt conveying device.

[0010] Furthermore, the conveying device is provided with a scraper mechanism, which includes a bracket fixed on the upper side of the conveying device and a scraper rotatably connected to the middle part of the upper side of the bracket, and a torsion spring is provided between the scraper and the bracket.

[0011] Furthermore, a roller conveyor is provided at the end of the belt scale, and the flipping mechanism includes a fixed seat fixed on one side of the roller conveyor, a rotating shaft is rotatably connected to the middle part of the fixed seat, and the rotating shaft is fixedly connected to a motor fixed on the fixed seat, and a plurality of L-shaped flipping frames are fixed on the upper side of the rotating shaft, and the roller conveyor and the discharge platform are respectively provided with gaps that cooperate with the L-shaped flipping frames.

[0012] Beneficial effects: The present invention utilizes machine vision and robotics technology to realize automated, unmanned yeast encoding operations, and realizes intelligent manufacturing upgrades in the liquor industry; by collecting the weight and thickness of the yeast block, it is possible to determine whether the moisture content of the yeast block meets the requirements, so that the moisture content of the yeast block placed in the transport vehicle is within the set range; the upper surface of the yeast block is processed by a flattening mechanism to make the upper surface of the yeast block smoother; the yeast block is flipped by a flipping mechanism to transform the yeast block from a flat state to an upright state, which is convenient for encoding operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of an automatic code system with a function of measuring moisture content of the block;

[0014] Figure 2 It is a schematic diagram for calculating the angle between the vertical line of the laser positioning reference and the vertical line of the transport vehicle center reference;

[0015] Figure 3 Schematic diagram for calculating the height of the transport vehicle;

[0016] Figure 4 It is a schematic diagram of adjusting the coordinates of the stacking center according to the thickness of the curved block;

[0017] Figure 5 It is a schematic diagram of the pose of the curved block;

[0018] Figure 6 It is a structural schematic diagram of the scraping mechanism;

[0019] Figure 7 It is a schematic diagram of the scraping mechanism scraping the curved block;

[0020] Figure 8 It is a schematic diagram of the coordination structure of the turning mechanism, the roller conveyor and the conveyor belt of the placement platform;

[0021] Fig. 9 It is a structural diagram of the flip mechanism. DETAILED DESCRIPTION

[0022] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. The embodiments are implemented based on the technical solution of the present invention. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0023] like Figure 1 As shown, an embodiment of the present invention provides an automatic block moisture content measurement system, including a conveyor 1, which preferably adopts a belt conveyor for transporting freshly pressed blocks 2. A belt scale 3 is connected to the rear side of the conveyor 1. When the block 2 passes through the belt scale 3, the belt scale 3 can obtain the mass M of the block 2, and then send the weight M of the block 2 to the control unit. The block 2 is placed in a flat state on the conveyor 1 and the belt scale 3. A flip mechanism 8 is provided at the end of the belt scale 3. The flip mechanism 8 is used to flip the block 2 from a flat state to an upright state to facilitate stacking later. A display table 4 is connected to the rear side of the belt scale 3, and a conveyor belt is also provided in the front part of the display table 4. The turned curved block 2 is further conveyed forward by the conveyor belt to the front end of the display table 4. A coding device 5 and a transport vehicle 6 are provided on one side of the front end of the display table 4. A 2D visual camera 7 and a laser positioning light 11 are provided on the coding device 5. The control unit uses the image collected by the 2D visual camera 7 and the laser positioning reference line emitted by the laser positioning light 11 to construct the relationship between the image coordinates and the physical world, and realizes the posture judgment and positioning of the transport vehicle 6 through angle detection and distance detection.

[0024] Specifically, on the same horizontal plane, the 2D visual camera 7 can measure the number of pixels in the length direction of the standard laser line, and obtain the proportional relationship K' between the pixel size and the physical world size based on the length of the laser line measured manually. The pixel coordinates of the center point of the transport vehicle 6 and the center point of the laser positioning reference can be obtained through image processing algorithm software. The pixel coordinates of the center point of the transport vehicle 6 multiplied by the proportional relationship K' are the coordinates of the physical world. Figure 2 The control unit detects the angle R° between the vertical line of the laser positioning reference and the vertical line of the center reference of the transport vehicle 6 through an angle detection algorithm. This angle R° is the angle at which the end angle of the code bending device 5 needs to rotate. Figure 3 The control unit can measure the line length L' of the laser line in the figure irradiated on the ground plane, the number of pixels of the reference standard height line L1' and the transport vehicle height line L2' through the image collected by the 2D visual camera 7, and combined with the manually measured height H1', ​​the real-time height H2' of the transport vehicle 6 can be calculated as H1'*(L'-L2') / (L'-L1'). The control unit has the converted center point coordinates of the transport vehicle 6, the angle R° and the real-time height H2', which realizes the posture judgment and positioning of the transport vehicle 6, so as to control the coding device 5 to perform coding work.

[0025] The moisture content of the block 2 will affect the subsequent fermentation process. In order to remove the block 2 whose moisture content does not meet the requirements, after the block 2 is flipped, the 2D visual camera 7 also collects the image data of the flipped block 2. The control unit obtains the thickness H of the block 2 based on the image data of the block 2, and calculates the volume V=S*H of the block in combination with the cross-sectional area S of the buckling mold. It should be noted that when the buckling machine is buckling, the length and width of the mold are fixed, that is, the cross-sectional area S of the pressed block 2 is the same. When the mold is filled with material, there will be some differences. Under the same pressure, the thickness H of the pressed block 2 is different. The control unit calculates the density ρ=M / V of the block 2 based on the mass M and volume V of the block 2, and calculates the moisture content of the block through the density ρ of the block 2. The control unit determines whether the moisture content of the current block 2 is within the set humidity threshold range. If it is within the set humidity threshold range, the control unit controls the code bending device 5 to place the block 2 on the display table 4 into the transport vehicle 6. Otherwise, the control unit controls the code bending device 5 to place the block 2 in the rejection area and then returns it to the processing site to add or reduce water.

[0026] When calculating the water content according to the density of block 2, the real-time water content Mc=K is calculated based on the multi-point calibration method. i *ρ, where K i is the piecewise linearization coefficient, i=1,2……n, n is a natural number greater than 2. K can be measured by drawing points and connecting lines using traditional measurement methods. i Divided into n segments, the slope of each segment is the K of that segment iThe value of .

[0027] In order to facilitate the coding operation, the coding device 5 preferably grabs three blocks 2 each time. Since the thickness of each block 2 is different, generally between 59mm and 65mm, the difference is large. When the three blocks 2 are stacked together, the thickness difference will be further increased. When the blocks 2 are placed in the transport vehicle, the control unit calculates the total thickness of the three blocks 2 and adjusts the coordinates of the stacking center according to the total thickness of the three blocks 2. For details, see Figure 4 , assuming that when calculating the moisture content of block 2, the control unit obtains the thicknesses of the three blocks as H1, H2 and H3 based on the image data of block 2, the control unit can directly calculate the total thickness L=H1+H2+H3 by summing up, and then adjust the coordinates of the stacking center in real time according to the total thickness L1 of the current three blocks 2 and the total thickness L2 of the three blocks 2 stacked last time.

[0028] Before the warp is arranged, if the block 2 falls over, the warp arrangement device 5 cannot perform the warp arrangement operation normally. Moreover, after the block 2 is placed in the transport vehicle 6, if the block 2 falls over, the subsequent placement of the block 2 will be affected. Therefore, before the warp arrangement device 5 grabs the block and after the block is placed, the control unit controls the 2D visual camera 7 to collect the image data of the block 2, and identifies the posture of the block 2 in the image based on the posture detection algorithm to determine whether the posture of the block 2 is normal. If not, the warp arrangement operation is stopped and an alarm signal is issued. For details, please refer to Figure 5 , Figure 5 The posture of the curved block 2 in the frame area is normal, and the rest are abnormal.

[0029] The encoding device 5 of the embodiment of the present invention preferably adopts a 6-axis robot, and a clamping mechanism is provided on the 6-axis robot. The clamping mechanism is a prior art and its structure is not described in detail.

[0030] See also Figure 6 and Figure 7 In order to make the upper surface of the curved block 2 flat, a scraper mechanism 9 is provided on the conveyor 1. The scraper mechanism 9 includes a bracket 91 fixed on the upper side of the conveyor 1 and a scraper 92 rotatably connected to the middle part of the upper side of the bracket 91. A torsion spring 93 is provided between the scraper 92 and the bracket 91. During installation, the scraper 92 is positioned by fixing the position of the torsion spring 93 so that the scraper 92 is inclined to the front and lower side. When the curved block 2 passes through the scraper mechanism 9, the scraper 92 contacts the upper surface of the curved block 2, and under the action of the torsion spring 93, the scraper 92 exerts a certain pressure on the upper surface of the curved block 2, thereby playing a role in scraping the upper surface of the curved block 2 flat.

[0031] See also Figure 8 and Fig. 9In order to facilitate the flipping of the curved block 2, a roller conveyor 10 is preferably provided at the end of the belt scale 3. The flipping mechanism 8 includes a fixed seat 81 fixed on one side of the roller conveyor 10. The middle part of the fixed seat 81 is rotatably connected with a rotating shaft 82. The rotating shaft 82 is fixedly connected to a motor 83 fixed on the fixed seat 81. A plurality of L-shaped flipping frames 84 are fixed on the upper side of the rotating shaft 82. The L-shaped flipping frames 84 are preferably two. The roller conveyor 10 and the discharge table 4 are respectively provided with gaps that match the L-shaped flipping frames 84, so that the corresponding side of the L-shaped flipping frame 84 can fall into the gap before and after the flipping. When the curved block 2 enters the corresponding position of the roller conveyor 10, the motor 83 drives the rotating shaft 82 and the L-shaped flipping frame 84 to rotate 90°, thereby flipping the curved block 2 on the roller conveyor 10 that is in a flat state to a vertical state. The turned curved block 2 is transported forward by the conveyor belt on the display table 4. After the curved block 2 leaves the L-shaped turning frame 84, the motor 83 drives the rotating shaft 82 and the L-shaped turning frame 84 to rotate 90° in the opposite direction, return to the original position, and wait for the next curved block 2 to arrive.

[0032] The above is only a preferred embodiment of the present invention. It should be noted that for ordinary technicians in this technical field, other parts not specifically described belong to the prior art or common knowledge. Several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. An automatic coding system with a function of measuring the moisture content of a block, characterized in that: It includes a conveyor for transporting a curved block, a belt scale is connected to the rear side of the conveyor, the belt scale is used to obtain the mass M of the curved block, and send the weight M of the curved block to the control unit, a flip mechanism is provided at the end of the belt scale, the flip mechanism is used to flip the curved block from a flat state to an upright state, a placing table is provided on one side of the flip mechanism, a coding device and a transport vehicle are provided on one side of the placing table, a 2D visual camera and a laser positioning light are provided on the coding device, the control unit uses the image collected by the 2D visual camera and the laser positioning reference line emitted by the laser positioning light to construct the relationship between the image coordinates and the physical world, and realizes the posture judgment and positioning of the transport vehicle through angle detection and distance detection, as follows: The control unit detects the angle R° between the vertical line of the laser positioning reference and the vertical line of the center reference of the transport vehicle through an angle detection algorithm, and measures the line length L', the number of pixels of the reference standard height line L1' and the transport vehicle height line L2' of the laser positioning reference line in the image captured by the 2D visual camera on the ground plane, and combines the manually measured height H1' to calculate the real-time height H2'=H1'*(L'-L2') / (L'-L1') of the transport vehicle, and combines the center point coordinates of the transport vehicle, the angle R° and the real-time height H2' to judge and locate the position of the transport vehicle; The 2D vision camera is also used to collect image data of the curved block after flipping. The control unit obtains the thickness H of the curved block based on the image data of the curved block, and calculates the volume V=S*H of the curved block in combination with the cross-sectional area S of the buckling mold. The control unit calculates the density ρ=M / V of the curved block based on the mass M and volume V of the curved block, and calculates the moisture content of the curved block through the density ρ of the curved block. The control unit determines whether the moisture content of the current curved block is within the set humidity threshold range. If it is within the set humidity threshold range, the coding device is controlled to place the curved block on the display table into the transport vehicle. Otherwise, the coding device is controlled to place the curved block into the rejection area.

2. The automatic coding system with the function of measuring the moisture content of the block according to claim 1 is characterized in that: Calculate the real-time water content Mc=K based on the multi-point calibration method i *ρ, where K i is the piecewise linearization coefficient, i=1,2…n, and n is a natural number greater than 2.

3. The automatic coding system with the function of measuring the moisture content of the block according to claim 1 is characterized in that: The coding device grabs three blocks of dough each time. When the blocks of dough are placed in the transport vehicle, the control unit adjusts the coordinates of the stacking center based on the total thickness of the three blocks of dough and the total thickness of the three blocks of dough currently and last stacked.

4. The automatic coding system with the function of measuring the moisture content of the block according to claim 3 is characterized in that: Before the encoding device grabs the song block and after it is placed, the control unit controls the 2D visual camera to collect image data of the song block, and identifies the posture of the song block in the image based on the posture detection algorithm to determine whether the posture of the song block is normal. If it is abnormal, the encoding operation is stopped and an alarm signal is issued.

5. The automatic coding system with the function of measuring the moisture content of the block according to claim 1 is characterized in that: The coding device comprises a 6-axis robot and a clamping mechanism arranged on the 6-axis robot.

6. The automatic coding system with the function of measuring the moisture content of the block according to claim 1 is characterized in that: The conveying device is a belt conveying device.

7. The automatic coding system with the function of measuring the moisture content of the block according to claim 1 is characterized in that: The conveying device is provided with a scraper mechanism, which comprises a bracket fixed on the upper side of the conveying device and a scraper rotatably connected to the middle part of the upper side of the bracket, and a torsion spring is provided between the scraper and the bracket.

8. The automatic coding system with the function of measuring the moisture content of the song block according to claim 1 is characterized in that: A roller conveyor is provided at the end of the belt scale, and the flipping mechanism includes a fixed seat fixed on one side of the roller conveyor, a rotating shaft is rotatably connected to the middle part of the fixed seat, and the rotating shaft is fixedly connected to a motor fixed on the fixed seat, and a plurality of L-shaped flipping frames are fixed on the upper side of the rotating shaft, and gaps matching the L-shaped flipping frames are respectively provided on the roller conveyor and the discharge platform.

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